| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2014: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Outline of Final Research Achievements |
We have developed a new iterative solution method for nonlinear stochastic optimal control problems based on stochastic analysis and statistical mechanics. We have also clarified conditions for convergence of a sequence of iterative solutions. This method enables us to obtain an optimal feedback control input for a nonlinear stochastic optimal control problem for which a sufficient solution has not been provided so far.
Then, we have proposed a stochastic approximate solution to a deterministic optimal control problem. In this method, a sub-optimal feedback control input is obtained by iteration of laboratory experiments as the covariance of an artificially added noise tends to zero. Finally, we have performed experimental verification of the proposed methods with a robot manipulator.
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